Added remote OpenGL drawing in 3D view. Any external application can draw to...

Added remote OpenGL drawing in 3D view. Any external application can draw to the 3D view via the protobuf implementation of GLOverlay messages.

qgroundcontrol.pro

@@ -364,7 +364,8 @@ HEADERS += src/MG.h \
     src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
     src/ui/QGCPluginHost.h \
     src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h \
-    src/ui/map3D/TerrainParamDialog.h
+    src/ui/map3D/TerrainParamDialog.h \
+    src/ui/map3D/GLOverlayGeode.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -505,7 +506,8 @@ SOURCES += src/main.cc \
     src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \
     src/ui/QGCPluginHost.cc \
     src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc \
-    src/ui/map3D/TerrainParamDialog.cc
+    src/ui/map3D/TerrainParamDialog.cc \
+    src/ui/map3D/GLOverlayGeode.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/uas/UAS.cc

@@ -76,10 +76,11 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     yaw(0.0),
     statusTimeout(new QTimer(this)),
     #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-    receivedPointCloudTimestamp(0.0),
-    receivedRGBDImageTimestamp(0.0),
+    receivedOverlayTimestamp(0.0),
     receivedObstacleListTimestamp(0.0),
     receivedPathTimestamp(0.0),
+    receivedPointCloudTimestamp(0.0),
+    receivedRGBDImageTimestamp(0.0),
     #endif
     paramsOnceRequested(false),
     airframe(QGC_AIRFRAME_EASYSTAR),
@@ -1125,21 +1126,13 @@ void UAS::receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<googl
     }
 
 #ifdef QGC_USE_PIXHAWK_MESSAGES
-    if (message->GetTypeName() == pointCloud.GetTypeName())
+    if (message->GetTypeName() == overlay.GetTypeName())
     {
-        receivedPointCloudTimestamp = QGC::groundTimeSeconds();
-        pointCloudMutex.lock();
-        pointCloud.CopyFrom(*message);
-        pointCloudMutex.unlock();
-        emit pointCloudChanged(this);
-    }
-    else if (message->GetTypeName() == rgbdImage.GetTypeName())
-    {
-        receivedRGBDImageTimestamp = QGC::groundTimeSeconds();
-        rgbdImageMutex.lock();
-        rgbdImage.CopyFrom(*message);
-        rgbdImageMutex.unlock();
-        emit rgbdImageChanged(this);
+        receivedOverlayTimestamp = QGC::groundTimeSeconds();
+        overlayMutex.lock();
+        overlay.CopyFrom(*message);
+        overlayMutex.unlock();
+        emit overlayChanged(this);
     }
     else if (message->GetTypeName() == obstacleList.GetTypeName())
     {
@@ -1157,6 +1150,22 @@ void UAS::receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<googl
         pathMutex.unlock();
         emit pathChanged(this);
     }
+    else if (message->GetTypeName() == pointCloud.GetTypeName())
+    {
+        receivedPointCloudTimestamp = QGC::groundTimeSeconds();
+        pointCloudMutex.lock();
+        pointCloud.CopyFrom(*message);
+        pointCloudMutex.unlock();
+        emit pointCloudChanged(this);
+    }
+    else if (message->GetTypeName() == rgbdImage.GetTypeName())
+    {
+        receivedRGBDImageTimestamp = QGC::groundTimeSeconds();
+        rgbdImageMutex.lock();
+        rgbdImage.CopyFrom(*message);
+        rgbdImageMutex.unlock();
+        emit rgbdImageChanged(this);
+    }
 #endif
 }
 
@@ -2329,9 +2338,7 @@ void UAS::shutdown()
 void UAS::setTargetPosition(float x, float y, float z, float yaw)
 {
     mavlink_message_t msg;
-    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_NAV_PATHPLANNING, 1, 1, 0, 0, yaw, x, y, z);
-    sendMessage(msg);
-    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_NAV_PATHPLANNING, 1, 0, 1, 0, yaw, x, y, z);
+    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_NAV_PATHPLANNING, 1, 1, 1, 0, yaw, x, y, z);
     sendMessage(msg);
 }
 

src/uas/UAS.h

@@ -135,26 +135,15 @@ public:
     bool getSelected() const;
 
 #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-    px::PointCloudXYZRGB getPointCloud() {
-        QMutexLocker locker(&pointCloudMutex);
-        return pointCloud;
+    px::GLOverlay getOverlay() {
+        QMutexLocker locker(&overlayMutex);
+        return overlay;
     }
 
-    px::PointCloudXYZRGB getPointCloud(qreal& receivedTimestamp) {
-        receivedTimestamp = receivedPointCloudTimestamp;
-        QMutexLocker locker(&pointCloudMutex);
-        return pointCloud;
-    }
-
-    px::RGBDImage getRGBDImage() {
-        QMutexLocker locker(&rgbdImageMutex);
-        return rgbdImage;
-    }
-
-    px::RGBDImage getRGBDImage(qreal& receivedTimestamp) {
-        receivedTimestamp = receivedRGBDImageTimestamp;
-        QMutexLocker locker(&rgbdImageMutex);
-        return rgbdImage;
+    px::GLOverlay getOverlay(qreal& receivedTimestamp) {
+        receivedTimestamp = receivedOverlayTimestamp;
+        QMutexLocker locker(&overlayMutex);
+        return overlay;
     }
 
     px::ObstacleList getObstacleList() {
@@ -178,6 +167,28 @@ public:
         QMutexLocker locker(&pathMutex);
         return path;
     }
+
+    px::PointCloudXYZRGB getPointCloud() {
+        QMutexLocker locker(&pointCloudMutex);
+        return pointCloud;
+    }
+
+    px::PointCloudXYZRGB getPointCloud(qreal& receivedTimestamp) {
+        receivedTimestamp = receivedPointCloudTimestamp;
+        QMutexLocker locker(&pointCloudMutex);
+        return pointCloud;
+    }
+
+    px::RGBDImage getRGBDImage() {
+        QMutexLocker locker(&rgbdImageMutex);
+        return rgbdImage;
+    }
+
+    px::RGBDImage getRGBDImage(qreal& receivedTimestamp) {
+        receivedTimestamp = receivedRGBDImageTimestamp;
+        QMutexLocker locker(&rgbdImageMutex);
+        return rgbdImage;
+    }
 #endif
 
     friend class UASWaypointManager;
@@ -265,13 +276,9 @@ protected: //COMMENTS FOR TEST UNIT
     quint64 imageStart;
 
 #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-    px::PointCloudXYZRGB pointCloud;
-    QMutex pointCloudMutex;
-    qreal receivedPointCloudTimestamp;
-
-    px::RGBDImage rgbdImage;
-    QMutex rgbdImageMutex;
-    qreal receivedRGBDImageTimestamp;
+    px::GLOverlay overlay;
+    QMutex overlayMutex;
+    qreal receivedOverlayTimestamp;
 
     px::ObstacleList obstacleList;
     QMutex obstacleListMutex;
@@ -280,6 +287,14 @@ protected: //COMMENTS FOR TEST UNIT
     px::Path path;
     QMutex pathMutex;
     qreal receivedPathTimestamp;
+
+    px::PointCloudXYZRGB pointCloud;
+    QMutex pointCloudMutex;
+    qreal receivedPointCloudTimestamp;
+
+    px::RGBDImage rgbdImage;
+    QMutex rgbdImageMutex;
+    qreal receivedRGBDImageTimestamp;
 #endif
 
     QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
@@ -611,16 +626,6 @@ signals:
     void imageStarted(quint64 timestamp);
     /** @brief A new camera image has arrived */
     void imageReady(UASInterface* uas);
-#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-    /** @brief Point cloud data has been changed */
-    void pointCloudChanged(UASInterface* uas);
-    /** @brief RGBD image data has been changed */
-    void rgbdImageChanged(UASInterface* uas);
-    /** @brief Obstacle list data has been changed */
-    void obstacleListChanged(UASInterface* uas);
-    /** @brief Path data has been changed */
-    void pathChanged(UASInterface* uas);
-#endif
     /** @brief HIL controls have changed */
     void hilControlsChanged(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
 

src/uas/UASInterface.h

@@ -97,14 +97,16 @@ public:
     virtual bool getSelected() const = 0;
 
 #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-    virtual px::PointCloudXYZRGB getPointCloud() = 0;
-    virtual px::PointCloudXYZRGB getPointCloud(qreal& receivedTimestamp) = 0;
-    virtual px::RGBDImage getRGBDImage() = 0;
-    virtual px::RGBDImage getRGBDImage(qreal& receivedTimestamp) = 0;
+    virtual px::GLOverlay getOverlay() = 0;
+    virtual px::GLOverlay getOverlay(qreal& receivedTimestamp) = 0;
     virtual px::ObstacleList getObstacleList() = 0;
     virtual px::ObstacleList getObstacleList(qreal& receivedTimestamp) = 0;
     virtual px::Path getPath() = 0;
     virtual px::Path getPath(qreal& receivedTimestamp) = 0;
+    virtual px::PointCloudXYZRGB getPointCloud() = 0;
+    virtual px::PointCloudXYZRGB getPointCloud(qreal& receivedTimestamp) = 0;
+    virtual px::RGBDImage getRGBDImage() = 0;
+    virtual px::RGBDImage getRGBDImage(qreal& receivedTimestamp) = 0;
 #endif
 
     virtual bool isArmed() const = 0;
@@ -489,6 +491,19 @@ signals:
     /** @brief Radio Calibration Data has been received from the MAV*/
     void radioCalibrationReceived(const QPointer<RadioCalibrationData>&);
 
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
+    /** @brief Overlay data has been changed */
+    void overlayChanged(UASInterface* uas);
+    /** @brief Obstacle list data has been changed */
+    void obstacleListChanged(UASInterface* uas);
+    /** @brief Path data has been changed */
+    void pathChanged(UASInterface* uas);
+    /** @brief Point cloud data has been changed */
+    void pointCloudChanged(UASInterface* uas);
+    /** @brief RGBD image data has been changed */
+    void rgbdImageChanged(UASInterface* uas);
+#endif
+
     /**
      * @brief Localization quality changed
      * @param fix 0: lost, 1: 2D local position hold, 2: 2D localization, 3: 3D localization

src/ui/map3D/GLOverlayGeode.h

+#ifndef GLOVERLAYGEODE_H
+#define GLOVERLAYGEODE_H
+
+#include <mavlink_protobuf_manager.hpp>
+#include <osg/Geode>
+
+class GLOverlayGeode : public osg::Geode
+{
+public:
+    GLOverlayGeode();
+
+    void setOverlay(px::GLOverlay& overlay);
+
+    px::GLOverlay::CoordinateFrameType coordinateFrameType(void) const;
+
+private:
+    class GLOverlayDrawable : public osg::Drawable
+    {
+    public:
+        GLOverlayDrawable();
+
+        GLOverlayDrawable(const GLOverlayDrawable& drawable,
+                          const osg::CopyOp& copyop = osg::CopyOp::SHALLOW_COPY);
+
+        void setOverlay(px::GLOverlay& overlay);
+
+        META_Object(GLOverlayDrawableApp, GLOverlayDrawable)
+
+        virtual void drawImplementation(osg::RenderInfo&) const;
+
+        osg::BoundingBox computeBound() const;
+
+    private:
+        float getFloatValue(const std::string& data, size_t& mark) const;
+
+        px::GLOverlay mOverlay;
+        osg::BoundingBox mBBox;
+    };
+
+    GLOverlayDrawable mDrawable;
+    px::GLOverlay::CoordinateFrameType mCoordinateFrameType;
+};
+
+#endif // GLOVERLAYGEODE_H

src/ui/map3D/Pixhawk3DWidget.cc

@@ -139,6 +139,10 @@ Pixhawk3DWidget::systemCreated(UASInterface *uas)
             this, SLOT(attitudeChanged(UASInterface*,double,double,double,quint64)));
     connect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)),
             this, SLOT(setpointChanged(int,float,float,float,float)));
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
+    connect(uas, SIGNAL(overlayChanged(UASInterface*)),
+            this, SLOT(addOverlay(UASInterface*)));
+#endif
 
     initializeSystem(systemId, uas->getColor());
 
@@ -546,6 +550,40 @@ Pixhawk3DWidget::loadTerrainModel(void)
     }
 }
 
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
+void
+Pixhawk3DWidget::addOverlay(UASInterface *uas)
+{
+    int systemId = uas->getUASID();
+
+    if (!mSystemContainerMap.contains(systemId))
+    {
+        return;
+    }
+
+    SystemContainer& systemData = mSystemContainerMap[systemId];
+
+    px::GLOverlay overlay = uas->getOverlay();
+
+    QString overlayName = QString::fromStdString(overlay.name());
+
+    osg::ref_ptr<SystemGroupNode>& systemNode = m3DWidget->systemGroup(systemId);
+
+    if (!systemData.overlayNodeMap().contains(overlayName))
+    {
+        osg::ref_ptr<GLOverlayGeode> overlayNode = new GLOverlayGeode;
+        systemData.overlayNodeMap().insert(overlayName, overlayNode);
+
+        systemNode->allocentricMap()->addChild(overlayNode, false);
+        systemNode->rollingMap()->addChild(overlayNode, false);
+
+        emit overlayCreatedSignal(systemId, overlayName);
+    }
+
+    systemData.overlayNodeMap()[overlayName]->setOverlay(overlay);
+}
+#endif
+
 void
 Pixhawk3DWidget::selectTargetHeading(void)
 {
@@ -904,6 +942,26 @@ Pixhawk3DWidget::update(void)
 #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
         rollingMap->setChildValue(systemData.obstacleGroupNode(),
                                   systemViewParams->displayObstacleList());
+
+        QMutableMapIterator<QString, osg::ref_ptr<GLOverlayGeode> > itOverlay(systemData.overlayNodeMap());
+        while (itOverlay.hasNext())
+        {
+            itOverlay.next();
+
+            osg::ref_ptr<GLOverlayGeode>& overlayNode = itOverlay.value();
+
+            bool displayOverlay = systemViewParams->displayOverlay().value(itOverlay.key());
+
+            bool visible;
+            visible = (overlayNode->coordinateFrameType() == px::GLOverlay::GLOBAL) && displayOverlay;
+
+            allocentricMap->setChildValue(overlayNode, visible);
+
+            visible = (overlayNode->coordinateFrameType() == px::GLOverlay::LOCAL) && displayOverlay;
+
+            rollingMap->setChildValue(overlayNode, visible);
+        }
+
         rollingMap->setChildValue(systemData.plannedPathNode(),
                                   systemViewParams->displayPlannedPath());
 

src/ui/map3D/Pixhawk3DWidget.h

@@ -64,6 +64,7 @@ public slots:
 
 signals:
     void systemCreatedSignal(UASInterface* uas);
+    void overlayCreatedSignal(int systemId, const QString& name);
 
 private slots:
     void clearData(void);
@@ -75,6 +76,10 @@ private slots:
     void setBirdEyeView(void);
     void loadTerrainModel(void);
 
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
+    void addOverlay(UASInterface* uas);
+#endif
+
     void selectTargetHeading(void);
     void selectTarget(void);
     void setTarget(void);

src/ui/map3D/SystemContainer.cc

@@ -99,6 +99,12 @@ SystemContainer::obstacleGroupNode(void)
     return mObstacleGroupNode;
 }
 
+QMap<QString,osg::ref_ptr<GLOverlayGeode> >&
+SystemContainer::overlayNodeMap(void)
+{
+    return mOverlayNodeMap;
+}
+
 osg::ref_ptr<osg::Geode>&
 SystemContainer::plannedPathNode(void)
 {

src/ui/map3D/SystemContainer.h

@@ -10,6 +10,7 @@
 #include "WaypointGroupNode.h"
 
 #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
+#include "GLOverlayGeode.h"
 #include "ObstacleGroupNode.h"
 #endif
 
@@ -37,6 +38,7 @@ public:
     osg::ref_ptr<WaypointGroupNode>& waypointGroupNode(void);
 #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     osg::ref_ptr<ObstacleGroupNode>& obstacleGroupNode(void);
+    QMap<QString,osg::ref_ptr<GLOverlayGeode> >& overlayNodeMap(void);
     osg::ref_ptr<osg::Geode>& plannedPathNode(void);
 #endif
 
@@ -62,6 +64,7 @@ private:
     osg::ref_ptr<WaypointGroupNode> mWaypointGroupNode;
 #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     osg::ref_ptr<ObstacleGroupNode> mObstacleGroupNode;
+    QMap<QString,osg::ref_ptr<GLOverlayGeode> > mOverlayNodeMap;
     osg::ref_ptr<osg::Geode> mPlannedPathNode;
 #endif
 };

src/ui/map3D/SystemViewParams.cc

@@ -54,6 +54,18 @@ SystemViewParams::displayObstacleList(void) const
     return mDisplayObstacleList;
 }
 
+QMap<QString,bool>&
+SystemViewParams::displayOverlay(void)
+{
+    return mDisplayOverlay;
+}
+
+QMap<QString,bool>
+SystemViewParams::displayOverlay(void) const
+{
+    return mDisplayOverlay;
+}
+
 bool&
 SystemViewParams::displayPlannedPath(void)
 {
@@ -227,6 +239,17 @@ SystemViewParams::toggleObstacleList(int state)
     }
 }
 
+void
+SystemViewParams::toggleOverlay(const QString& name)
+{
+    if (!mDisplayOverlay.contains(name))
+    {
+        return;
+    }
+
+    mDisplayOverlay[name] = !mDisplayOverlay[name];
+}
+
 void
 SystemViewParams::togglePlannedPath(int state)
 {

src/ui/map3D/SystemViewParams.h

 #ifndef SYSTEMVIEWPARAMS_H
 #define SYSTEMVIEWPARAMS_H
 
+#include <QMap>
 #include <QObject>
 #include <QSharedPointer>
 #include <QVector>
@@ -21,6 +22,9 @@ public:
     bool& displayObstacleList(void);
     bool displayObstacleList(void) const;
 
+    QMap<QString,bool>& displayOverlay(void);
+    QMap<QString,bool> displayOverlay(void) const;
+
     bool& displayPlannedPath(void);
     bool displayPlannedPath(void) const;
 
@@ -57,6 +61,7 @@ public slots:
     void toggleColorPointCloud(int state);
     void toggleLocalGrid(int state);
     void toggleObstacleList(int state);
+    void toggleOverlay(const QString& name);
     void togglePlannedPath(int state);
     void togglePointCloud(int state);
     void toggleRGBD(int state);
@@ -74,6 +79,7 @@ private:
     bool mColorPointCloudByDistance;
     bool mDisplayLocalGrid;
     bool mDisplayObstacleList;
+    QMap<QString,bool> mDisplayOverlay;
     bool mDisplayPlannedPath;
     bool mDisplayPointCloud;
     bool mDisplayRGBD;

src/ui/map3D/ViewParamWidget.cc

@@ -2,7 +2,7 @@
 
 #include <osg/LineWidth>
 #include <QCheckBox>
-#include <QFormLayout>
+#include <QGroupBox>
 #include <QLabel>
 #include <QPushButton>
 
@@ -28,8 +28,13 @@ ViewParamWidget::ViewParamWidget(GlobalViewParamsPtr& globalViewParams,
 
     mTabWidget->setFocusPolicy(Qt::NoFocus);
 
+    mOverlaySignalMapper = new QSignalMapper(this);
+
     connect(parent, SIGNAL(systemCreatedSignal(UASInterface*)),
             this, SLOT(systemCreated(UASInterface*)));
+
+    connect(parent, SIGNAL(overlayCreatedSignal(int,QString)),
+            this, SLOT(overlayCreated(int,QString)));
 }
 
 void
@@ -47,6 +52,28 @@ ViewParamWidget::setFollowCameraId(int id)
     mFollowCameraComboBox->setCurrentIndex(0);
 }
 
+void
+ViewParamWidget::overlayCreated(int systemId, const QString& name)
+{
+    if (!mOverlayLayout.contains(systemId))
+    {
+        return;
+    }
+
+    SystemViewParamsPtr systemViewParams = mSystemViewParamMap[systemId];
+    systemViewParams->displayOverlay().insert(name, true);
+
+    QCheckBox* checkbox = new QCheckBox(this);
+    checkbox->setChecked(systemViewParams->displayOverlay().value(name));
+    mOverlayLayout[systemId]->addRow(name, checkbox);
+
+    mOverlaySignalMapper->setMapping(checkbox, name);
+    connect(checkbox, SIGNAL(clicked()),
+            mOverlaySignalMapper, SLOT(map()));
+    connect(mOverlaySignalMapper, SIGNAL(mapped(QString)),
+            systemViewParams.data(), SLOT(toggleOverlay(QString)));
+}
+
 void
 ViewParamWidget::systemCreated(UASInterface *uas)
 {
@@ -173,6 +200,10 @@ ViewParamWidget::addTab(int systemId)
     QCheckBox* waypointsCheckBox = new QCheckBox(this);
     waypointsCheckBox->setChecked(systemViewParams->displayWaypoints());
 
+    QGroupBox* overlayGroupBox = new QGroupBox(tr("Overlays"), this);
+    mOverlayLayout[systemId] = new QFormLayout;
+    overlayGroupBox->setLayout(mOverlayLayout[systemId]);
+
     QFormLayout* formLayout = new QFormLayout;
     page->setLayout(formLayout);
 
@@ -188,6 +219,7 @@ ViewParamWidget::addTab(int systemId)
     formLayout->addRow(tr("Target"), targetCheckBox);
     formLayout->addRow(tr("Trails"), trailsCheckBox);
     formLayout->addRow(tr("Waypoints"), waypointsCheckBox);
+    formLayout->addRow(overlayGroupBox);
 
     QString label("MAV ");
     label += QString::number(systemId);

src/ui/map3D/ViewParamWidget.h

@@ -3,6 +3,8 @@
 
 #include <QComboBox>
 #include <QDockWidget>
+#include <QFormLayout>
+#include <QSignalMapper>
 #include <QSpinBox>
 #include <QTabWidget>
 #include <QVBoxLayout>
@@ -26,6 +28,7 @@ public:
 signals:
 
 private slots:
+    void overlayCreated(int systemId, const QString& name);
     void systemCreated(UASInterface* uas);
     void setpointsCheckBoxToggled(int state);
 
@@ -43,7 +46,10 @@ private:
     // child widgets
     QComboBox* mFollowCameraComboBox;
     QSpinBox* mSetpointHistoryLengthSpinBox;
+    QMap<int, QFormLayout*> mOverlayLayout;
     QTabWidget* mTabWidget;
+
+    QSignalMapper* mOverlaySignalMapper;
 };
 
 #endif // VIEWPARAMWIDGET_H

thirdParty/mavlink/include/mavlink_protobuf_manager.hpp

@@ -24,40 +24,46 @@ public:
 	 , kExtendedHeaderSize(MAVLINK_EXTENDED_HEADER_LEN)
 	 , kExtendedPayloadMaxSize(MAVLINK_MAX_EXTENDED_PAYLOAD_LEN)
 	{
-		// register PointCloudXYZI
+		// register GLOverlay
 		{
-			std::tr1::shared_ptr<px::PointCloudXYZI> msg(new px::PointCloudXYZI);
+			std::tr1::shared_ptr<px::GLOverlay> msg(new px::GLOverlay);
 			registerType(msg);
 		}
 
-		// register PointCloudXYZRGB
+		// register ObstacleList
 		{
-			std::tr1::shared_ptr<px::PointCloudXYZRGB> msg(new px::PointCloudXYZRGB);
+			std::tr1::shared_ptr<px::ObstacleList> msg(new px::ObstacleList);
 			registerType(msg);
 		}
 
-		// register RGBDImage
+		// register ObstacleMap
 		{
-			std::tr1::shared_ptr<px::RGBDImage> msg(new px::RGBDImage);
+			std::tr1::shared_ptr<px::ObstacleMap> msg(new px::ObstacleMap);
 			registerType(msg);
 		}
 
-		// register ObstacleList
+		// register Path
 		{
-			std::tr1::shared_ptr<px::ObstacleList> msg(new px::ObstacleList);
+			std::tr1::shared_ptr<px::Path> msg(new px::Path);
+                        registerType(msg);
+		}
+
+		// register PointCloudXYZI
+		{
+			std::tr1::shared_ptr<px::PointCloudXYZI> msg(new px::PointCloudXYZI);
 			registerType(msg);
 		}
 
-		// register ObstacleMap
+		// register PointCloudXYZRGB
 		{
-			std::tr1::shared_ptr<px::ObstacleMap> msg(new px::ObstacleMap);
+			std::tr1::shared_ptr<px::PointCloudXYZRGB> msg(new px::PointCloudXYZRGB);
 			registerType(msg);
 		}
 
-		// register Path
+		// register RGBDImage
 		{
-			std::tr1::shared_ptr<px::Path> msg(new px::Path);
-                        registerType(msg);
+			std::tr1::shared_ptr<px::RGBDImage> msg(new px::RGBDImage);
+			registerType(msg);
 		}
 
 		srand(time(NULL));

thirdParty/mavlink/message_definitions/pixhawk.proto

 package px;
 
-message HeaderInfo {
+message HeaderInfo
+{
     required int32 source_sysid = 1;
     required int32 source_compid = 2;
     required double timestamp = 3; // in seconds
 }
 
+message GLOverlay
+{
+    required HeaderInfo header = 1;
+
+    optional string name = 2;
+    
+    enum CoordinateFrameType
+    {
+        GLOBAL = 0;
+        LOCAL = 1;
+    }
+    optional CoordinateFrameType coordinateFrameType = 3;
+
+    optional double origin_x = 4;
+    optional double origin_y = 5;
+    optional double origin_z = 6;
+    
+    optional bytes data = 7;
+
+    enum Mode
+    {
+        POINTS = 0;
+        LINES = 1;
+        LINE_STRIP = 2;
+        LINE_LOOP = 3;
+        TRIANGLES = 4;
+        TRIANGLE_STRIP = 5;
+        TRIANGLE_FAN = 6;
+        QUADS = 7;
+        QUAD_STRIP = 8;
+        POLYGON = 9;
+        SOLID_CIRCLE = 10;
+        WIRE_CIRCLE = 11;
+        SOLID_CUBE = 12;
+        WIRE_CUBE = 13;
+    }
+
+    enum Identifier
+    {
+        END = 14;
+        VERTEX2F = 15;
+        VERTEX3F = 16;
+        ROTATEF = 17;
+        TRANSLATEF = 18;
+        SCALEF = 19;
+        PUSH_MATRIX = 20;
+        POP_MATRIX = 21;
+        COLOR3F = 22;
+        COLOR4F = 23;
+        POINTSIZE = 24;
+        LINEWIDTH = 25;
+    }
+}
+
+message Obstacle
+{
+    optional float x = 1;
+    optional float y = 2;
+    optional float z = 3;
+    optional float length = 4;
+    optional float width = 5;
+    optional float height = 6;
+}
+
+message ObstacleList
+{
+    required HeaderInfo header = 1;
+
+    repeated Obstacle obstacles = 2;
+}
+
+message ObstacleMap
+{
+    required HeaderInfo header = 1;
+
+    required int32 type = 2;
+
+    optional float resolution = 3;
+    optional int32 rows = 4;
+    optional int32 cols = 5;
+    optional int32 mapR0 = 6;
+    optional int32 mapC0 = 7;
+    optional int32 arrayR0 = 8;
+    optional int32 arrayC0 = 9;
+    
+    optional bytes data = 10;
+}
+
+message Path
+{
+    required HeaderInfo header = 1;
+
+    repeated Waypoint waypoints = 2;
+}
+
 message PointCloudXYZI {
     message PointXYZI {
         required float x = 1;
@@ -34,16 +130,16 @@ message RGBDImage
 {
     required HeaderInfo header = 1;
 
-    required uint32 cols = 2;		///< Number of columns in image(s)
-    required uint32 rows = 3;		///< Number of rows in image(s)
-    required uint32 step1 = 4;		///< Step (stride) of image 1
-    required uint32 type1 = 5;		///< Type of image 1
+    required uint32 cols = 2;        ///< Number of columns in image(s)
+    required uint32 rows = 3;        ///< Number of rows in image(s)
+    required uint32 step1 = 4;        ///< Step (stride) of image 1
+    required uint32 type1 = 5;        ///< Type of image 1
     required bytes imageData1 = 6;
-    required uint32 step2 = 7;		///< Step (stride) of image 2
-    required uint32 type2 = 8;		///< Type of image 2
+    required uint32 step2 = 7;        ///< Step (stride) of image 2
+    required uint32 type2 = 8;        ///< Type of image 2
     required bytes imageData2 = 9;
-    optional uint32 camera_config = 10;	///< PxSHM::Camera enumeration
-    optional uint32 camera_type = 11;	///< PxSHM::CameraType enumeration
+    optional uint32 camera_config = 10;    ///< PxSHM::Camera enumeration
+    optional uint32 camera_type = 11;    ///< PxSHM::CameraType enumeration
     optional float roll = 12;
     optional float pitch = 13;
     optional float yaw = 14;
@@ -56,40 +152,6 @@ message RGBDImage
     repeated float camera_matrix = 21;
 }
 
-message Obstacle
-{
-    optional float x = 1;
-    optional float y = 2;
-    optional float z = 3;
-    optional float length = 4;
-    optional float width = 5;
-    optional float height = 6;
-}
-
-message ObstacleList
-{
-    required HeaderInfo header = 1;
-
-    repeated Obstacle obstacles = 2;
-}
-
-message ObstacleMap
-{
-    required HeaderInfo header = 1;
-
-    required int32 type = 2;
-
-    optional float resolution = 3;
-    optional int32 rows = 4;
-    optional int32 cols = 5;
-    optional int32 mapR0 = 6;
-    optional int32 mapC0 = 7;
-    optional int32 arrayR0 = 8;
-    optional int32 arrayC0 = 9;
-    
-    optional bytes data = 10;
-}
-
 message Waypoint
 {
     required double x = 1;
@@ -99,10 +161,3 @@ message Waypoint
     optional double pitch = 5;
     optional double yaw = 6;
 }
-
-message Path
-{
-    required HeaderInfo header = 1;
-
-    repeated Waypoint waypoints = 2;
-}

thirdParty/mavlink/message_definitions/sensesoar.xml

+<?xml version='1.0'?>
+<mavlink>
+     <include>common.xml</include>
+     <enums>
+          <enum name="SENSESOAR_MODE">
+               <description> Different flight modes </description>
+               <entry name="SENSESOAR_MODE_GLIDING">  Gliding mode with motors off</entry>
+               <entry name="SENSESOAR_MODE_AUTONOMOUS"> Autonomous flight</entry>
+               <entry name="SENSESOAR_MODE_MANUAL"> RC controlled</entry>
+          </enum>
+     </enums>
+     <messages>
+          <message id="170" name="OBS_POSITION">
+     Position estimate of the observer in global frame
+     <field type="int32_t" name="lon">Longitude expressed in 1E7</field>
+               <field type="int32_t" name="lat">Latitude expressed in 1E7</field>
+               <field type="int32_t" name="alt">Altitude expressed in milimeters</field>
+          </message>
+          <message id="172" name="OBS_VELOCITY">
+     velocity estimate of the observer in NED inertial frame
+     <field type="float[3]" name="vel">Velocity</field>
+          </message>
+          <message id="174" name="OBS_ATTITUDE">
+     attitude estimate of the observer
+     <field type="double[4]" name="quat">Quaternion re;im</field>
+          </message>
+          <message id="176" name="OBS_WIND">
+     Wind estimate in NED inertial frame
+     <field type="float[3]" name="wind">Wind</field>
+          </message>
+          <message id="178" name="OBS_AIR_VELOCITY">
+     Estimate of the air velocity
+     <field type="float" name="magnitude">Air speed</field>
+               <field type="float" name="aoa">angle of attack</field>
+               <field type="float" name="slip">slip angle</field>
+          </message>
+          <message id="180" name="OBS_BIAS">
+     IMU biases
+     <field type="float[3]" name="accBias">accelerometer bias</field>
+               <field type="float[3]" name="gyroBias">gyroscope bias</field>
+          </message>
+          <message id="182" name="OBS_QFF">
+     estimate of the pressure at sea level
+     <field type="float" name="qff">Wind</field>
+          </message>
+          <message id="183" name="OBS_AIR_TEMP">
+     ambient air temperature
+     <field type="float" name="airT">Air Temperatur</field>
+          </message>
+          <message id="184" name="FILT_ROT_VEL">
+     filtered rotational velocity
+     <field type="float[3]" name="rotVel">rotational velocity</field>
+          </message>
+          <message id="186" name="LLC_OUT">
+     low level control output
+     <field type="int16_t[4]" name="servoOut">Servo signal</field>
+               <field type="int16_t[2]" name="MotorOut">motor signal</field>
+          </message>
+          <message id="188" name="PM_ELEC">
+     Power managment
+     <field type="float" name="PwCons">current power consumption</field>
+               <field type="float" name="BatStat">battery status</field>
+               <field type="float[3]" name="PwGen">Power generation from each module</field>
+          </message>
+          <message id="190" name="SYS_Stat">
+     system status
+     <field type="uint8_t" name="gps">gps status</field>
+               <field type="uint8_t" name="act">actuator status</field>
+               <field type="uint8_t" name="mod">module status</field>
+               <field type="uint8_t" name="commRssi">module status</field>
+          </message>
+          <message id="192" name="CMD_AIRSPEED_CHNG">
+     change commanded air speed
+     <field type="uint8_t" name="target">Target ID</field>
+               <field type="float" name="spCmd">commanded airspeed</field>
+          </message>
+          <message id="194" name="CMD_AIRSPEED_ACK">
+     accept change of airspeed
+     <field type="float" name="spCmd">commanded airspeed</field>
+               <field type="uint8_t" name="ack">0:ack, 1:nack</field>
+          </message>
+     </messages>
+</mavlink>